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An Adaptable, Safe, and Portable Robot-Assisted Feeding System

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arxiv 2403.04134 v1 pith:MQEVIVZD submitted 2024-03-07 cs.RO

Ethan Kroll Gordon , Rajat Kumar Jenamani , Amal Nanavati , Ziang Liu , Haya Bolotski , Raida Karim , Daniel Stabile , Atharva Kashyap
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Bernie Hao Zhu Xilai Dai Tyler Schrenk Jonathan Ko Taylor Kessler Faulkner Tapomayukh Bhattacharjee Siddhartha Srinivasa
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classification cs.RO
keywords systemcontrolleveragebitefeedingpoweredrobot-assistedsafety
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We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to be mounted on and powered by any powered wheelchair, and a custom web-app allowing care-recipients to leverage their own assistive devices for robot control. For bite acquisition, we leverage multi-modal online learning to tractably adapt to unseen food types. For bite transfer, we leverage real-time mouth perception and interaction-aware control. Co-designed with community researchers, our system has been validated through multiple end-user studies.

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